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Autonomous Mobility for the Demo III Experimental Unmanned Vehicles



Alberto Lacaze, Karl Murphy, M DelGiono


This paper will describe the autonomous mobility controller used under the U.S. Army sponsored Demo III eXperimental Unmanned Vehicle (XUV) project. The controller is designed for avoiding obstacles and traversing highly unstructured outdoor environments. Behavior generation, world modeling and perception capabilities as well as design architecture will be presented. The architecture used is based on 4D-RCS which uses hierarchical levels of knowledge and decision making. At each successive level of the architecture, planning algorithms generate paths with increasing detail. High level commands developed by the soldiers are automatically refined using 30 meter DTED a priori maps and onboard sensors. The XUVs plan and re-plan their own routes, speed and gaze. Demo III XUVs have been thoroughly tested on scouting scenarios by the U.S. Army soldiers. The results of this testing will be presented.
Proceedings Title
Proceedings of the AUVSI 2002 Conference
Conference Dates
July 8-12, 2002
Conference Location
Orlando, FL
Conference Title
AUVSI 2002 Conference


automation, automation, automation, Autonomous systems, Autonomous systems, Autonomous systems, cable robotics, cable robotics, Demo III, Demo III, Demo III, embedded systems, embedded systems, Linux, Linux, optimal plan, optimal plan, planning, planning, planning graph, planning graph, real time control systems, real time control systems, real time control systems, Real-time software, Real-time software, robot control, robot control, robotics, robotics, robotics, teleoperation, teleoperation, vehicle mobility, vehicle mobility, vehicle mobility, world model, world model


Lacaze, A. , Murphy, K. and DelGiono, M. (2002), Autonomous Mobility for the Demo III Experimental Unmanned Vehicles, Proceedings of the AUVSI 2002 Conference, Orlando, FL, [online], (Accessed July 23, 2024)


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Created July 1, 2002, Updated February 17, 2017